JP6187534B2 - Vehicle regulation speed display device - Google Patents

Description

  The present invention relates to a “vehicle regulated speed display device” that displays a regulated speed displayed on a traffic sign to a vehicle occupant (mainly a driver).

  The road is provided with a traffic sign (road sign) that displays information on the speed limit for vehicles traveling on the road. Patent Document 1 describes a vehicle regulated speed display device that displays the regulated speed displayed on the traffic sign. This device (hereinafter referred to as “conventional device”) recognizes a traffic sign in an image based on image data of a landscape in front of the vehicle taken by a camera mounted on the vehicle, and recognizes the recognized traffic. The sign is displayed on a display provided at a position where the driver of the vehicle can visually recognize the sign.

  Furthermore, the traffic sign is referred to as a traffic sign (hereinafter referred to as “traffic sign with an auxiliary sign”) with a plate (auxiliary sign) indicating conditions (weather, vehicle type, time zone, etc.) to which the regulated speed is applied. ) Exists. Patent Document 2 discloses a sign recognition device that determines whether or not a regulated speed displayed on a traffic sign with an auxiliary sign is applied to a vehicle traveling on a road where the traffic sign with the auxiliary sign is installed. Is described.

JP 2010-205160 A JP 2010-282278 A

  By the way, for example, when a traffic sign with an auxiliary sign that displays a regulated speed applied when it is snowing is installed on the road, the regulated speed applied when it is not snowing is displayed on the road. Mostly traffic signs are installed. That is, in most cases, a normal traffic sign without an auxiliary sign (hereinafter referred to as “standard traffic sign”) is installed on a road on which a traffic sign with an auxiliary sign is installed. In general, the restriction speed displayed on the traffic sign with the auxiliary sign is smaller than the restriction speed displayed on the standard traffic sign.

  In addition, the detection of the standard traffic sign fails for some reason (for example, because it is behind other vehicles), and as a result, the regulated speed display device displays There may occur a case where the regulated speed is excessively smaller than the regulated speed to be originally applied. Furthermore, since the auxiliary sign is generally small and many characters are often written in it, the regulated speed display device detects the traffic sign with the auxiliary sign, but the condition displayed on the auxiliary sign (applicable condition) ) May not be detected.

  Considering the above, when the regulated speed displayed on the traffic sign with an auxiliary sign is detected, if the detected regulated speed is greater than the "regulated speed displayed on the regulated speed display device" When the detected regulated speed is displayed on the regulated speed display device, the regulated speed display device indicates that “the speed is closer to the regulated speed to be originally applied although it is smaller than the regulated speed to be originally applied”. There is a high possibility that it can be displayed.

  In addition, depending on the country, “letters that are not applicable conditions of speed limit” such as place names may be displayed on the same plate as the auxiliary sign. This traffic sign with a plate may be recognized as a traffic sign with an auxiliary sign. In this case, if the regulation speed displayed on the traffic sign with the plate is not a candidate for the speed to be displayed on the regulation speed display device, there is a high possibility that an accurate regulation speed will not be displayed.

  The present invention has been made to address the above-described problems. That is, one of the objects of the present invention is to display “a speed that is lower than the regulation speed to be originally applied, but close to the regulation speed to be originally applied” or “a regulation speed to be originally applied”. The object is to provide a “vehicle regulation speed display device” that is more likely to be possible.

The “regulated vehicle speed display device (hereinafter referred to as“ the present invention device ”)” according to the present invention is
Mounted on the vehicle,
A display for displaying information on the regulated speed of the road on which the vehicle is traveling;
An image acquisition device for capturing a landscape in the traveling direction of the vehicle and acquiring image data of the landscape;
A processing unit that detects a regulated speed displayed on the traffic sign in the photographed landscape based on the image data, and displays the detected regulated speed as a standard regulated speed on the display;
It has.

  The processing unit determines whether or not the traffic sign displaying the detected regulation speed is a sign with an auxiliary sign based on the acquired image data.

  Further, when the control speed is newly detected, the processing unit displays the newly detected control speed on the display when it is determined that the traffic sign is not a sign with the auxiliary sign. Display as standard speed limit.

  Thereby, the regulation speed displayed on the traffic sign (standard traffic sign) that is not the sign with the auxiliary sign can be displayed on the display unit as the standard regulation speed.

  Furthermore, when the control speed is newly detected, and the determination that the traffic sign is a sign with the auxiliary sign is obtained, the newly detected speed limit is displayed on the display unit. When the speed is larger than the speed displayed as the standard regulated speed, the newly detected regulated speed is displayed on the display as the standard regulated speed.

  As a result, “the speed that is lower than the speed that should be originally applied, but closer to the speed that should be originally applied” or “the speed that should be originally applied” is set as the standard speed on the speed limit display device. The possibility of being able to display becomes higher.

  In addition, even when it is determined that the traffic sign is a sign with the auxiliary sign, the speed at which the newly detected regulated speed is displayed as the standard regulated speed on the display When it is below, the display of the speed currently displayed as the standard regulation speed on the display is maintained, without displaying the newly detected regulation speed as the standard regulation speed on the display.

  If the regulation speed displayed on the sign with an auxiliary sign is less than the speed displayed as the standard regulation speed on the display, the regulation speed displayed on the sign with the auxiliary sign and the standard regulation speed on the display It is unclear which of the speeds displayed as “the speed that is closer to the“ regulated speed to be applied originally ””. Therefore, when the newly detected "regulated speed displayed on the sign with auxiliary sign" is equal to or lower than the speed displayed as the standard regulated speed on the display, the newly detected regulated speed is displayed on the display. By not displaying it, it is possible to prevent a speed that is unknown whether it is closer to the regulated speed that should be originally applied from being displayed as a standard regulated speed on the display.

  Further, when the indicator is configured to display an auxiliary restricted speed in addition to the standard restricted speed, the processing unit is configured to display the traffic sign when the restricted speed is newly detected. When it is determined that the mark is a sign with an auxiliary sign and the newly detected restricted speed is equal to or lower than the speed displayed as the auxiliary restricted speed on the display, the newly detected restricted speed May be configured to be displayed on the same display as the auxiliary restricted speed.

  As a result, when the newly detected “regulated speed displayed on the sign with the auxiliary sign” is equal to or lower than the speed displayed as the auxiliary regulated speed on the display, the newly detected regulated speed is assisted. It can be displayed on the display as a regulated speed.

  Alternatively, when the indicator is configured to display an auxiliary restricted speed in addition to the standard restricted speed, the processing unit may display the traffic sign when the restricted speed is newly detected. When it is determined that the mark is a sign with an auxiliary sign and the content displayed on the auxiliary sign of the sign with the auxiliary sign is recognized, the newly detected regulation speed is displayed on the display. Regardless of whether the speed is equal to or lower than the speed displayed as the auxiliary restricted speed, the newly detected restricted speed may be displayed as the auxiliary restricted speed on the display.

  Thereby, when the content displayed on the auxiliary sign of the sign with the auxiliary sign is recognized, the newly detected regulated speed can be displayed as the auxiliary regulated speed on the display.

  On the other hand, when the regulation speed is newly detected, the processing unit obtains a determination that the traffic sign is a sign with the auxiliary sign and is displayed on the auxiliary sign of the sign with the auxiliary sign. When the content is not recognized, when the newly detected restricted speed is equal to or lower than the speed displayed as the auxiliary restricted speed on the display, the newly detected restricted speed is synchronized with the display. You may comprise so that it may display as auxiliary regulation speed.

  As a result, when the content displayed on the auxiliary sign of the sign with the auxiliary sign is not recognized, the newly detected "regulated speed displayed on the sign with the auxiliary sign" is displayed on the display as the auxiliary restricted speed. Only when the speed is less than or equal to the speed displayed as, the newly detected regulated speed can be displayed on the display.

  In addition, the processing unit can determine that the traffic sign is a sign with the auxiliary sign when the restricted speed is newly detected, and the display device has a speed as the auxiliary restricted speed. When not displayed, the newly detected regulated speed may be displayed on the same display as the auxiliary regulated speed.

  Thereby, when the auxiliary regulation speed is not displayed on the display, the newly detected “regulation speed displayed on the sign with the auxiliary sign” can be displayed on the display as the auxiliary regulation speed.

  Other objects, other features, and attendant advantages of the present invention will be readily understood from the description of each embodiment of the present invention described with reference to the following drawings.

FIG. 1 is a schematic configuration diagram of a regulated speed display device for a vehicle according to an embodiment of the present invention. FIG. 2 is a diagram illustrating an image (captured image) captured by the camera illustrated in FIG. 3A shows a standard traffic sign, and FIG. 3B shows a traffic sign with an auxiliary sign. FIG. 4 is a flowchart showing a routine executed by the processing unit (CPU) shown in FIG. FIG. 5 is a flowchart showing a routine executed by the processing unit (CPU) shown in FIG. FIG. 6 is a diagram for explaining display of the regulated speed by the regulated speed display device shown in FIG. FIG. 7 is a diagram for explaining the display of the regulated speed by the regulated speed display device shown in FIG. FIG. 8 is a flowchart showing a routine executed by the processing unit (CPU) shown in FIG. FIG. 9 is a flowchart showing a routine executed by the processing unit (CPU) shown in FIG.

  Hereinafter, a “restricted vehicle speed display device” according to an embodiment of the present invention will be described with reference to the drawings.

<Configuration>
FIG. 1 shows a schematic configuration of a regulated speed display device (hereinafter referred to as “implementing device”) 10 according to an embodiment of the present invention. This implementation apparatus 10 is mounted in a vehicle (automobile, own vehicle). The implementation apparatus 10 includes a camera (image acquisition apparatus) 11, a processing unit 12, and a display (display device) 13.

  The camera 11 is fixed to a stay or the like of an inner rear view mirror (so-called room mirror) at the front of the vehicle body. The optical axis of the camera 11 coincides with the longitudinal direction of the vehicle (vehicle traveling direction) when the camera 11 is fixed to the vehicle. Therefore, as shown in FIG. 2, the camera 11 can acquire an image (image data) 60 of the same scenery by photographing the scenery in the vehicle traveling direction (front of the vehicle). When the camera 11 receives a shooting instruction from the processing unit 12, the camera 11 captures a landscape in front of the vehicle. The camera 11 is, for example, a CCD camera.

  Around the road (on the side of the road and above the road, etc.), there are “traffic signs 51 and 52, etc., indicating the maximum speed limit for vehicles (hereinafter simply referred to as“ the speed limit ”)” shown in FIG. is set up. The traffic sign 51 shown in FIG. 3A is a traffic sign (standard traffic sign) that does not have an auxiliary sign that displays the conditions to which the regulation speed (standard regulation speed) displayed on the traffic sign 51 is applied. ). On the other hand, the traffic sign 52 shown in FIG. 3B has a traffic sign (52) that includes an auxiliary sign 52a that displays a condition to which the restriction speed (auxiliary restriction speed) displayed on the traffic sign 52 is applied. Traffic signs with auxiliary signs, signs with auxiliary signs). The “applied conditions” include conditions such as weather, vehicle type, and time zone.

  The processing unit 12 is an electronic circuit device (ECU) including a known microcomputer including a RAM (storage unit), a ROM, a CPU, and the like. The processing unit 12 detects (recognizes) the traffic signs 51 and / or 52 by processing the image 60 (image data, captured image, image signal) acquired by the camera 11, as will be described in detail later. It has become.

  Further, as will be described in detail later, when the standard traffic sign 51 is detected in the captured image 60, the processing unit 12 detects the regulation speed displayed on the detected standard traffic sign 51 as the standard regulation speed Vst_new ( Recognition) and whether or not to display the detected standard regulation speed Vst_new on the display 13 is determined. Furthermore, as will be described in detail later, the processing unit 12 assists the regulation speed displayed on the detected traffic sign 52 with the auxiliary sign even when the traffic sign 52 with the auxiliary sign is detected in the captured image 60. It is detected (recognized) as a regulated speed Vsub_new, and it is determined whether or not the detected auxiliary regulated speed Vsub_new is displayed on the display 13.

  The display 13 is provided at a position (for example, in the meter cluster panel) that is visible from the driver's seat of the vehicle. As shown in FIG. 1, the display 13 includes a first display unit 13 a that displays a main regulated speed (standard regulated speed), and a second display unit 13 b that displays an auxiliary regulated speed (auxiliary regulated speed). , Including. Each display part 13a and 13b displays a standard regulation speed and an auxiliary regulation speed according to a display instruction of processing part 12, respectively.

  The vehicle speed sensor 21 detects a vehicle speed (vehicle speed) and outputs a signal representing the vehicle speed SPD. A signal output from the vehicle speed sensor 21 is input to the processing unit 12. The processing unit 12 acquires the vehicle speed SPD based on the input signal.

  The alarm device 22 issues a sound alarm in response to an instruction from the processing unit 12.

<Action>
Next, the operation of the embodiment apparatus 10 configured as described above will be described. In practice, the CPU (hereinafter simply referred to as “CPU”) included in the processing unit 12 of the present embodiment 10 executes the following processing according to a program (instruction) stored in the ROM. Is realized.

  In this example, when the ignition switch is turned on, the standard regulation speed data Vst and the auxiliary regulation speed data Vsub are erased from the RAM. That is, “data indicating that it is not valid” is stored in a predetermined area of the RAM as data of the standard restriction speed and the auxiliary restriction speed.

  When the ignition switch is turned on, the CPU repeatedly executes the routine processing shown by the flowchart in FIG. 4 every time a predetermined time (for example, 0.1 second) elapses. Therefore, when the predetermined timing comes, the CPU starts the process from step 400 of FIG. 4 and sequentially performs the processes of step 405 and step 410 described below.

  Step 405: The CPU sends a photographing instruction to the camera 11 to cause the camera 11 to perform photographing, and obtains a photographed image (image data) 60 photographed by the camera 11.

  Step 410: The CPU processes the captured image 60 acquired in step 405 by a well-known method (for example, see Patent Document 1), and in the captured image 60 based on the data of the processed captured image 60. It is determined whether or not “traffic signs 51 and / or 52 displaying the regulated speed” is included. Further, when the CPU determines that the standard traffic sign 51 is included in the captured image 60 (when the CPU recognizes (detects) the standard traffic sign 51 in the captured image 60), the standard traffic sign 51 is included. The regulation speed displayed in 51 is detected as the standard regulation speed Vst_new. In addition, when the CPU determines that the traffic sign 52 with the auxiliary sign is included in the captured image 60 (when the CPU recognizes (detects) the traffic sign 52 with the auxiliary sign in the captured image 60). The restriction speed displayed on the traffic sign 52 with the auxiliary sign is detected as the auxiliary restriction speed Vsub_new.

  Next, the CPU proceeds to step 415 to determine whether or not the “standard traffic sign 51 displaying the regulated speed” is included in the captured image 60 based on the determination result in step 410. When the standard traffic sign 51 is included in the photographed image 60, the CPU makes a “Yes” determination at step 415 to sequentially perform the processing of step 420 and step 422 described below.

  Step 420: The CPU sends an instruction (display instruction) for displaying the standard regulation speed Vst_new newly detected in Step 410 on the first display section 13a, and the auxiliary regulation speed on the second display section 13b. Sends an instruction to end the display (non-display instruction). As a result, the newly detected standard regulated speed Vst_new is displayed on the first display unit 13a, and the display of the auxiliary regulated speed on the second display unit 13b is stopped.

  Step 422: The CPU stores the standard regulation speed Vst_new newly detected in step 410 in the RAM as “standard regulation speed data Vst displayed on the first display section 13a” and “second display section”. The auxiliary regulated speed data Vsub "displayed in 13b" is erased from the RAM. Thereafter, the CPU proceeds to step 425.

  On the other hand, if the standard traffic sign 51 is not included in the captured image 60, the CPU makes a “No” determination at step 415 to proceed directly to step 425.

  When the CPU proceeds to step 425, the CPU determines whether or not the traffic sign 52 with the auxiliary sign is included in the captured image 60 based on the determination result in step 410. If the captured image 60 includes “a traffic sign 52 with an auxiliary sign displaying a regulated speed”, the CPU makes a “Yes” determination at step 425 to proceed to step 430, and FIG. The indicated routine (subroutine) is processed.

  Therefore, when the CPU proceeds to step 430, the CPU starts processing from step 500 in FIG. 5 and proceeds to step 505, where the standard regulation speed is displayed on the first display unit 13a and in step 410 in FIG. It is determined whether or not the newly detected auxiliary regulation speed Vsub_new is greater than the standard regulation speed Vst displayed on the first display unit 13a.

  The standard regulation speed in which the standard regulation speed is displayed on the first display unit 13a and the newly detected auxiliary regulation speed Vsub_new is displayed on the first display unit 13a when the CPU executes the process of step 505. If it is greater than Vst, the CPU makes a “Yes” determination at step 505 to sequentially perform the processing of step 510 and step 512 described below.

  Step 510: The CPU sends an instruction (display instruction) for displaying the auxiliary regulation speed Vsub_new newly detected in Step 410 of FIG. 4 on the first display unit 13a, and assists in the second display unit 13b. An instruction (non-display instruction) for terminating the display of the regulated speed is sent. As a result, the newly detected auxiliary regulation speed Vsub_new is displayed on the first display section 13a, and the display of the auxiliary regulation speed on the second display section 13b is stopped.

  Step 512: The CPU stores the newly detected auxiliary regulation speed Vsub_new in the RAM as “standard regulation speed data Vst displayed on the first display section 13a” and displays it on the “second display section 13b”. The auxiliary control speed data Vsub "being deleted is deleted from the RAM. Thereafter, the CPU returns to the routine of FIG.

  On the other hand, the standard restriction speed is not displayed on the first display unit 13a when the CPU executes the process of step 505, or the auxiliary restriction speed Vsub_new newly detected in step 410 in FIG. If it is smaller than the standard regulated speed Vst displayed on the first display portion 13a, the CPU makes a “No” determination at step 505 to proceed to step 515.

  When the CPU proceeds to step 515, the auxiliary restriction speed is displayed on the second display portion 13b, and the auxiliary restriction speed Vsub_new newly detected in step 410 of FIG. 4 is displayed on the second display portion 13b. It is determined whether or not it is equal to or higher than the auxiliary regulation speed Vsub.

  When the CPU executes the process of step 515, the auxiliary restriction speed is not displayed on the second display unit 13b, or the auxiliary restriction speed Vsub_new newly detected in step 410 of FIG. 4 is the second display part 13b. Is smaller than the auxiliary regulation speed Vsub displayed on the CPU, the CPU makes a “No” determination at step 515 to sequentially perform the processes of step 520 and step 522 described below.

  Step 520: The CPU sends out an instruction (display instruction) for displaying the auxiliary regulation speed Vsub_new newly detected in step 410 of FIG. 4 on the second display unit 13b. As a result, the newly detected auxiliary regulation speed Vsub_new is displayed on the second display unit 13b.

  Step 522: The CPU stores the auxiliary restriction speed Vsub_new newly detected in step 410 of FIG. 4 in the RAM as “auxiliary restriction speed data Vsub displayed on the second display portion 13b”. Thereafter, the CPU returns to the routine of FIG.

  On the other hand, when the CPU executes the process of step 515, the auxiliary restriction speed is displayed on the second display unit 13b, and the auxiliary restriction speed Vsub_new newly detected at step 410 in FIG. If it is equal to or higher than the auxiliary regulation speed Vsub displayed on the part 13b, the CPU makes a “Yes” determination at step 515 to return to the routine of FIG. 4 via step 595. In this case, the display of the auxiliary regulation speed on the second display unit 13b is not changed, and the current display on the second display unit 13b is continued.

  If the captured image 60 does not include the traffic sign 52 with an auxiliary sign, the CPU makes a “No” determination at step 425 in FIG. 4 to directly proceed to step 495 to end the present routine tentatively. In this case, the display of the auxiliary regulation speed on the second display unit 13b is not changed, and the current display on the second display unit 13b is continued.

  The above is the operation of the embodiment apparatus 10. According to this implementation apparatus 10, for example, when the vehicle 30 travels on the road in the situation shown in FIG. 6, the display of the regulated speed on the display 13 is performed as follows.

  In the example shown in FIG. 6, “a traffic sign 52 with an auxiliary sign displaying an auxiliary restriction speed of 100 km / h” is installed on the left side of the road. When the vehicle 30 is traveling in front of the traffic sign 52, the standard display speed of “80 km / h” is displayed on the first display portion 13a, and “60 km / hour” is displayed on the second display portion 13b. It is assumed that “h auxiliary regulation speed” is displayed.

  When the vehicle 30 moves forward and approaches the traffic sign 52, the camera 11 of the vehicle 30 captures a landscape including the traffic sign 52. At this time, this embodiment apparatus 10 recognizes (detects) the traffic sign 52, determines that the traffic sign 52 is a traffic sign with an auxiliary sign, and displays the auxiliary regulation speed (= 100 km / h) is detected.

  In the embodiment 10, the detected auxiliary regulation speed (= 100 km / h) is larger than the standard regulation speed (= 80 km / h) displayed on the first display unit 13a. An instruction for displaying the detected auxiliary regulation speed (= 100 km / h) on the first display unit 13 a when passing by the sign 52 is sent to the display 13.

  That is, the CPU determines “No” in step 415 of FIG. 4, determines “Yes” in step 425 and step 505 of FIG. 5, and performs the processing of step 510. As a result, the standard regulated speed displayed on the first display unit 13a is switched from 80 km / h to 100 km / h.

  Thus, according to the present embodiment 10, even when the standard regulated speed is displayed on the first display unit 13a, the newly detected auxiliary regulated speed Vsub_new is displayed on the first display unit 13a. If it is equal to or higher than the standard restriction speed Vst, the newly detected auxiliary restriction speed Vsub_new is displayed on the first display portion 13a.

  On the other hand, according to the present embodiment 10, for example, when the vehicle 30 travels on the road shown in FIG. 7, the display of the regulated speed on the display 13 is performed as follows.

  In the example shown in FIG. 7, “a traffic sign 52 with an auxiliary sign displaying an auxiliary restriction speed of 40 km / h” is installed on the left side of the road. When the vehicle 30 is traveling in front of the traffic sign 52, the standard display speed of “80 km / h” is displayed on the first display portion 13a, and “60 km / hour” is displayed on the second display portion 13b. It is assumed that “h auxiliary regulation speed” is displayed.

  When the vehicle 30 moves forward and approaches the traffic sign 52, the camera 11 of the vehicle 30 captures a landscape including the traffic sign 52. At this time, this embodiment apparatus 10 recognizes (detects) the traffic sign 52, determines that the traffic sign 52 is a traffic sign with an auxiliary sign, and displays the auxiliary regulation speed (= 40 km / h) is detected.

  In the embodiment 10, the detected auxiliary regulation speed (= 40 km / h) is equal to or lower than the standard regulation speed (= 80 km / h) displayed on the first display section 13a, but the second display section 13b. The auxiliary restriction speed (= 40 km / h) detected when the vehicle 30 passes by the traffic sign 52 is smaller than the auxiliary restriction speed (= 60 km / h) displayed on the second display section. An instruction to be displayed on 13b is sent to the display 13.

  That is, the CPU determines “No” in step 415 of FIG. 4, determines “Yes” in step 425, determines “No” in steps 505 and 515 of FIG. Process. As a result, the auxiliary regulation speed displayed on the second display unit 13b is switched from 60 km / h to 40 km / h.

  As described above, according to the present embodiment 10, the newly detected auxiliary restriction speed Vsub_new is equal to or lower than the standard restriction speed Vst displayed on the first display unit 13a, and therefore, the newly detected auxiliary restriction speed Vst. Even when Vsub_new is not displayed on the first display unit 13a, if the newly detected auxiliary regulation speed Vsub_new is lower than the auxiliary regulation speed Vsub displayed on the second display unit 13b, the newly detected auxiliary regulation speed Vsub is detected. The auxiliary restriction speed Vsub_new is displayed on the second display portion 13b.

  By the way, the implementation apparatus 10 is configured to execute the subroutine executed in step 430 of FIG. 4 only when the contents of the auxiliary sign 52a of the traffic sign 52 with the auxiliary sign cannot be recognized. Also good. In this case, the execution apparatus 10 executes the routine shown by the flowchart in FIG.

  The routine shown in FIG. 8 is the same as the routine shown in FIG. 4 except that steps 827 to 829 are added to the routine shown in FIG. 4. Therefore, steps other than these steps 827 to 820 are not described. Omitted.

  If the CPU of the execution apparatus 10 determines “Yes” in step 425 of FIG. 8, the CPU proceeds to step 827. When the CPU proceeds to step 827, the CPU determines whether or not the content of the auxiliary sign 52a of the auxiliary sign-added traffic sign 52 included in the captured image 60 acquired in step 405 is recognized (detected). .

  If the content of the auxiliary sign 52a of the traffic sign 52 with the auxiliary sign is not recognized (detected), the CPU makes a “No” determination at step 827 to proceed to step 430, and executes the routine of FIG. 5 described above. Run.

  On the other hand, when the content displayed on the auxiliary sign 52a of the traffic sign with the auxiliary sign 52 is recognized (detected), the CPU makes a “Yes” determination at step 827 to execute steps 828 and step described below. The process of 829 is performed in order.

  Step 828: The CPU sends out an instruction (display instruction) for displaying the auxiliary restriction speed Vsub_new newly detected in step 410 on the second display unit 13b. As a result, the newly detected auxiliary regulation speed Vsub_new is displayed on the second display unit 13b.

  Step 829: The CPU stores the auxiliary restriction speed Vsub_new newly detected in step 410 in the RAM as “auxiliary restriction speed data Vsub displayed on the second display portion 13b”. Thereafter, the CPU proceeds to step 895 to end the present routine tentatively.

  According to this, the newly detected auxiliary regulation speed Vsub_new can be displayed on the second display unit 13b only when the contents of the auxiliary sign 52a of the auxiliary sign-added traffic sign 52 are recognized.

  Further, when the ignition switch is turned on, the CPU of the processing unit 12 repeatedly executes the routine shown by the flowchart in FIG. 9 every time a predetermined time (for example, 0.1 second) elapses. ing. Therefore, at a predetermined timing, the CPU starts the process from step 900 in FIG. 9 and proceeds to step 905 to acquire “vehicle speed SPD” and “standard regulation speed Vst displayed on the first display portion 13a”. To do. The vehicle speed SPD is acquired based on a signal output from the vehicle speed sensor 21.

  Next, the CPU proceeds to step 910 and determines whether or not the vehicle speed SPD acquired in step 905 is greater than the standard regulation speed Vst acquired in step 905.

  If the vehicle speed SPD is larger than the standard regulation speed Vst at the time when the CPU executes the process of step 910, the CPU makes a “Yes” determination at step 910 to proceed to step 915 to activate the alarm device 22. Send instructions. Thereafter, the CPU proceeds to step 995 to end the present routine tentatively.

  On the other hand, when the vehicle speed SPD is equal to or lower than the standard regulation speed Vst at the time when the CPU executes the process of step 910, the CPU makes a “No” determination at step 910 to directly proceed to step 995 to execute this routine. Exit once.

  According to the above routine, when the vehicle speed SPD becomes larger than the standard regulated speed Vst displayed on the first display portion 13a, the alarm device 22 causes the vehicle speed SPD to become larger than the standard regulated speed Vst. An audible alarm will sound.

  The implementation device 10 described above emits a sound from the alarm device 22 when the vehicle speed SPD is larger than the standard regulation speed Vst displayed on the first display portion 13a, so that the vehicle speed SPD is sent to the driver by the standard regulation speed Vst. Let me know that it is bigger than. However, the implementation apparatus 10 may notify the driver that the vehicle speed SPD is greater than the standard regulation speed Vst by displaying on the display 13 that the vehicle speed SPD is greater than the standard regulation speed Vst. In other words, the present invention may be configured to notify the driver that the vehicle speed SPD is higher than the standard regulation speed Vst by alarm means including sound and display on the display 13.

  As described above, the “vehicle regulation speed display device 10” according to the embodiment of the present invention includes the display (display) 13, the image acquisition device (camera) 11, and the processing unit 12. .

  The processing unit 12 controls the regulation speed (standard regulation speed) displayed on the photographed traffic sign that is a traffic sign (standard traffic sign and / or traffic sign with an auxiliary sign) 51 or 52 in a landscape photographed by the image acquisition device 11. Alternatively, the auxiliary regulation speed) is detected based on the image data acquired by the image acquisition device 11, and the detected regulation speed Vst_new or Vsub_new is displayed on the display unit 13 as the standard regulation speed according to the condition.

  Further, the processing unit 12 determines whether or not the photographing traffic sign is the sign 52 with the auxiliary sign (Step 405, Step 410 and Step 425 in FIG. 4).

  Here, when the regulation speed is newly detected, it can be determined that the photographing traffic sign displaying the regulation speed is not the sign 52 with the auxiliary sign (the standard traffic sign 51) (FIG. 4). In step 415 of “Yes” in step 415, the processing unit 12 causes the display unit 13 to display the newly detected regulated speed (standard regulated speed) Vst_new as the standard regulated speed (step 420 in FIG. 4). .

  Furthermore, when the regulation speed is newly detected, when it is determined that the photographing traffic sign displaying the regulation speed is the sign 52 with the auxiliary sign ("Yes" in step 425 in FIG. 4). When the newly detected regulated speed (auxiliary regulated speed) Vsub_new is greater than the speed Vst displayed as the standard regulated speed on the display 13 (“Yes” in step 505 in FIG. 5). Judgment), the processing unit 12 displays the newly detected regulated speed Vsub_new as the standard regulated speed on the display 13 (step 510 in FIG. 5).

  On the other hand, when the regulation speed is newly detected, when it is determined that the photographing traffic sign displaying the regulation speed is the sign 52 with the auxiliary sign ("Yes" in step 425 in FIG. 4). Even when the newly detected regulated speed Vsub_new is equal to or lower than the speed Vst displayed as the standard regulated speed on the display device 13 ("Yes" determination in step 515 in FIG. 5). The processing unit 12 maintains the display of the speed displayed as the standard regulated speed on the display unit 13 without causing the display unit 13 to display the newly detected regulated speed Vsub_new as the standard regulated speed.

  Further, the display 13 is configured to display the auxiliary restricted speed in addition to the standard restricted speed.

  Here, when the regulation speed is newly detected, it is determined that the photographing traffic sign displaying the regulation speed is the sign 52 with the auxiliary sign ("Yes" in step 425 in FIG. 4). When the newly detected regulated speed Vsub_new is equal to or less than the speed Vsub displayed as the auxiliary regulated speed on the display device 13 (determined “No” in step 515 in FIG. 5), the processing unit 12 Then, the newly detected regulated speed Vsub_new is displayed on the display unit 13 as the auxiliary regulated speed (step 520 in FIG. 5).

  Alternatively, when the regulated speed is newly detected, it is determined that the photographing traffic sign displaying the regulated speed is the sign 52 with the auxiliary sign (“Yes” in step 425 in FIG. 8). When the content displayed on the auxiliary sign 52a of the sign 52 with the auxiliary sign is recognized ("Yes" in step 827 in FIG. 8), the processing unit 12 newly detects Regardless of whether or not the regulated speed Vsub_new is less than or equal to the speed Vsub displayed on the display unit 13 as the auxiliary regulated speed, the newly detected regulated speed Vsub_new is displayed on the display unit 13 as the auxiliary regulated speed.

  On the other hand, when the restricted speed is newly detected, it is determined that the photographing traffic sign displaying the restricted speed is the sign 52 with the auxiliary sign (“Yes” in step 425 in FIG. 8). (Determination) When the content displayed on the auxiliary indicator 52a of the auxiliary indicator 52 is not recognized (determination of “No” in step 827 in FIG. 8), the newly detected regulation speed Vsub_new Is equal to or lower than the speed Vsub displayed as the auxiliary restricted speed on the display 13 ("No" determination in step 515 in FIG. 5), the processing unit 12 displays the newly detected restricted speed Vsub_new on the display 13 is displayed as an auxiliary regulation speed (step 520 in FIG. 5).

  In addition, when the regulation speed is newly detected, it is determined that the photographing traffic sign displaying the regulation speed is the sign 52 with the auxiliary sign ("Yes" in step 425 in FIG. 4). When the speed as the auxiliary regulated speed is not displayed on the display device 13 (determined “No” in step 515 in FIG. 5), the processing unit 12 displays the newly detected regulated speed Vsub_new. The device 13 is displayed as the auxiliary regulation speed (step 520 in FIG. 5).

  Therefore, according to the regulated speed display device 10 according to the embodiment of the present invention, “although the speed is smaller than the regulated speed to be originally applied, it is closer to the regulated speed to be originally applied” or “originally applied. It is more likely that the “regulated speed to be” can be displayed.

  In addition, this invention is not limited to the said embodiment, A various modified example is employable within the scope of the present invention. For example, the display device 13 may include only the first display unit 13a. In this case, the sending and processing of instructions to the second display unit 13b in the routines are omitted.

  DESCRIPTION OF SYMBOLS 10 ... Control speed display apparatus, 11 ... Camera, 12 ... Processing part, 13 ... Display, 13a ... 1st display part, 13b ... 2nd display part, 21 ... Vehicle speed sensor, 22 ... Alarm, 30 ... Vehicle, 51 ... Standard traffic sign, 52 ... Traffic sign with auxiliary sign (sign with auxiliary sign), 52a ... Auxiliary sign, 60 ... Captured image, Vst_new ... Newly detected standard regulation speed, Vst ... Standard regulation speed, Vsub_new ... New Detected auxiliary regulation speed, Vsub ... auxiliary regulation speed

Claims (4)

Mounted on the vehicle,
A display for displaying information on the regulated speed of the road on which the vehicle is traveling;
An image acquisition device for capturing a landscape in the traveling direction of the vehicle and acquiring image data of the landscape;
A processing unit that detects a regulated speed displayed on the traffic sign in the photographed landscape based on the image data, and displays the detected regulated speed as a standard regulated speed on the display;
In a regulated speed display device comprising:
The processor is
Determining whether the traffic sign displaying the detected regulated speed based on the acquired image data is a sign with an auxiliary sign,
When the regulation speed is newly detected,
When it is determined that the traffic sign is not a sign with the auxiliary sign, the newly detected regulated speed is displayed as the standard regulated speed on the display,
When it is determined that the traffic sign is a sign with the auxiliary sign, the newly detected restricted speed is detected when the newly detected restricted speed is larger than the speed displayed as the standard restricted speed on the display. Display the regulated speed on the same display as the standard regulated speed,
Even when it is determined that the traffic sign is a sign with the auxiliary sign, the newly detected regulated speed is equal to or less than the speed displayed as the standard regulated speed on the display Maintaining the display of the speed displayed as the standard regulated speed on the display without displaying the newly detected regulated speed as the standard regulated speed on the display,
A vehicle regulated speed display device configured as described above. The regulated speed display device according to claim 1,
The indicator is configured to display an auxiliary regulated speed in addition to the standard regulated speed,
The processing unit obtains a determination that the traffic sign is a sign with the auxiliary sign when the restricted speed is newly detected, and the newly detected restricted speed is sent to the auxiliary indicator. It is configured to display the newly detected regulated speed as the auxiliary regulated speed on the same indicator when the speed is equal to or lower than the speed displayed as the regulated speed.
Vehicle regulation speed display device. The regulated speed display device according to claim 1,
The indicator is configured to display an auxiliary regulated speed in addition to the standard regulated speed,
The processor is
When the regulation speed is newly detected, it is determined that the traffic sign is a sign with the auxiliary sign, and the contents displayed on the auxiliary sign of the sign with the auxiliary sign are recognized. Sometimes the newly detected regulated speed is displayed as the auxiliary regulated speed on the display,
When the regulation speed is newly detected, it is determined that the traffic sign is a sign with the auxiliary sign, and the content displayed on the auxiliary sign of the sign with the auxiliary sign is not recognized Sometimes when the newly detected regulated speed is equal to or less than the speed displayed as the auxiliary regulated speed on the display, the newly detected regulated speed is displayed on the display as the auxiliary regulated speed.
A vehicle regulated speed display device configured as described above. In the regulated speed display device according to claim 2 or claim 3,
When the restricted speed is newly detected, the processing unit determines that the traffic sign is a sign with the auxiliary sign and displays the speed as the auxiliary restricted speed on the display. It is configured to display the newly detected regulated speed as the auxiliary regulated speed on the same display when there is not,
Vehicle regulation speed display device.

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